Continuous–Discrete Time-Observer Design for State and Disturbance Estimation of Electro-Hydraulic Actuator Systems

Sofiane Ahmed Ali, Arnaud Christen, Steven Begg, Nicolas Langlois

Research output: Contribution to journalArticlepeer-review


In this paper, a continuous-discrete time observer which simultaneously estimates the unmeasurable states and the uncertainties for the electro-hydraulic actuator (EHA) system is presented. The main feature of the proposed observer is the use of an intersample output predictor which allows the users to increase the frequency acquisition of the piston position sensor without affecting the convergence performance. The stability analysis of the proposed observer is proved using Lyapunov function adapted to hybrid systems. To show the efficiency of our proposed observer, numerical simulations and experimental validation involving a control application, which combines the designed observer and a proportional-integral (PI) controller for the purpose of piston position tracking problem, are presented.
Original languageEnglish
Pages (from-to)4314-4324
Number of pages11
JournalIeee Transactions On Industrial Electronics
Issue number7
Publication statusPublished - 18 Feb 2016

Bibliographical note

2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.


  • Continuous–discrete time observers
  • disturbance observer (DOB)
  • electro-hydraulic actuator (EHA)
  • intersample output predictor
  • sampled data measurements.


Dive into the research topics of 'Continuous–Discrete Time-Observer Design for State and Disturbance Estimation of Electro-Hydraulic Actuator Systems'. Together they form a unique fingerprint.

Cite this